In high power density transmission systems, the friction and wear characteristic of copper based powder metallurgy materials is directly linked to working reliability. Moreover, these materials have frictional self-healing characteristic at the material interface. This paper focuses on exploring the healing mechanism of copper based powder metallurgy materials and conducts "damage-healing" tests, proposing a method to characterize the self-healing characteristic. Subsequently, through comparative tests, the influence of temperature, speed, and pressure on the self-healing characteristics is analyzed. The results show that the increase in temperature reduces the furrow width and depth by 15.30% and 59.76%, respectively. Pressure has the greatest effect on surface roughness, reducing it by 67%. Meanwhile, this paper developed a PSO (Particle Swarm Optimization)-LSTM (Long Short-Term Memory) method to accurately predict the self-healing characterization parameters and self-healing time with small error (average 4.35 %) and high correlation coefficient (R2) (average 0.976). This study contributes to the development of interface repair technology for friction materials.